ROBOTIQ HAND-E Manual de usuario
Robotiq Hand-E
for OMRON-TMSeries Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2021. Robotiq, Inc.
Robotiq Hand-E Gripper Instruction Manual
Revisions 4
1. General Presentation 7
1.1. Gripper nomenclature 8
1.2. Object picking 10
1.3. Setup and control 11
2. Safety 12
2.1. Warning 13
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.2. Required Tools and Equipment 17
3.3. Environmental and Operating Conditions 18
3.4. Mechanical Installation 19
3.5. Electrical Setup 26
4. Control 31
4.1. Overview 31
4.2. Gripper Register Mapping 33
4.3. Robot Output Registers &Functionalities 34
4.4. Robot Input Registers andStatus 36
4.5. Picking Features 40
4.6. Control Logic Example 43
4.7. Modbus RTUCommunication 43
4.8. Hand-E Gripper and I/O Coupling communication 57
4.9. Control over OMRON TM 58
5. Specifications 78
5.1. Technical dimensions 79
5.2. Mechanical Specifications 85
5.3. Electrical specifications 91
6. Maintenance 92
6.1. Gripper cleaning 94
6.2. Periodic inspection 95
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Robotiq Hand-E Gripper Instruction Manual
6.3. Rack &pinion mechanism cleaning 96
7. Spare Parts, Kits and Accessories 98
8. Troubleshooting 102
8.1. Using the Robotiq User Interface (RUI) 102
8.2. Troubleshooting OMRONTM Models 102
9. Warranty andPatent 103
9.1. I/O Coupling Warranty 104
10. Harmonized Standards, Declarations and Certificates 106
10.1. EC declaration of incorporation 106
10.2. Applied standards 107
10.3. Ingress Protection Certificate 108
11. License Agreement 109
12. Contact 112
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Robotiq Hand-E Gripper Instruction Manual
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in
specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this
manual online at robotiq.com/support.
Revision 2021/07/01
lSection "Installation"
lAdded section 3.4.4 "Installing Fingertip Extenders on the Gripper"
lUpdated subsection 3.4.1 "Single Gripper Installation"
lSection "Specifications"
lUpdated subsection 5.1.3 "Fingertips Extenders", maximum opening is now 98 mm
lUpdated section 5.2.1
lUpdated section 5.2.3
lSection "Spare Parts, Kits and Accessories"
lHand-E SKUis now HND-GRP
Revision 2020/05/28
lMinor Revision:modifications to standardize our manuals
lSection "Warranty and Patent"
lCycle count is now 5 000 000.
lConsumable parts are now excluded of the warranty.
lSection "Specifications"
lUpdated subsection "Mechanical Specifications"
lUpdated subsection "Electrical Specifications"
lUpdated subsection "Technical Dimensions"
lSection "Harmonized Standards, Declarations and Certificates"
lUpdated subsection "EC declaration of incorporation"
lUpdated subsection "Applied Standards"
Revision 2019/12/19
lSection "Control"
lUpdated text and images in subsection "TMGripper Components" with current names of TMcomponents
lRevised data on register and bits in subsection "Modbus RTUCommunication"
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Robotiq Hand-E Gripper Instruction Manual
lSection "Specifications"
lUpdated subsection "Mechanical Specifications"
lUpdated subsection"Couplings"
lSection "Troubleshooting"
lRewrote section, formatted troubleshooting instructions in tables
lAdded subsection "Troubleshooting with RUI"
lAdded subsection "Troubleshooting OMRONTM Models"
lRemoved Section 5: User Interface
Revision 2019/11/06
Addition of the OMRON Robots Wrist Connection Kit (I/O Coupling)
Revision 2019/10/10
lAddition of the Electrostatic Discharge Safety section
Revision 2019/05/03
lUpdated environmental and operating conditions (Section 3.3)
Revision 2019/03/13
lUpdated mechanical specifications (Section 6.2)
Revision 2019/02/19
lUpdated Sections 4 and 6 to modify the grip force
Revision 2018/12/10
lFirst publication of the Instruction Manual.
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Robotiq Hand-E Gripper Instruction Manual
Copyright
© 2018 - 2021 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by
international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written
consent from Robotiq. Under copyright law, copying includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed
by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after
the edition date.
The information contained in this document is subject to change without notice.
6
1. General Presentation
The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in this manual are used interchangeably to
designate the "Robotiq Hand-E Gripper". The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications.
It is a unique robotic end-of-arm tool designed to quickly pick, place and handle parts in a broad range of sizes and shapes.
Info
This manual uses the metric system. Unless otherwise specified, all dimensions are in millimeters.
Info
The following section presents the key features of the Gripper and must not be considered as appropriate to Gripper
operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and
understood before any operation is attempted with theGripper.
Robotiq Hand-E Gripper Instruction Manual
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Robotiq Hand-E Gripper Instruction Manual
1.1. Gripper nomenclature
The Hand-E Gripper is a parallel gripper. Its two fingers are actuated by a single motor.
Fig. 1-1: Robotiq Hand-E Gripper.
Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional
parts. The Hand-E basic gripper unit includes flat aluminum fingers overmolded with NBR.
The status LED presented in the figure above will be :
lsolid blue/red when booting
lsolid blue when powered with no errors (while communication is active)
lsolid red if minor fault occurs, see status details in the Control section.
lblinking red/blue if major fault occurs, see status details in the Control section.
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Robotiq Hand-E Gripper Instruction Manual
The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks.
Refer to the Installing the Gripper on the Robot section for more information on how to integrate custom fingers and fingertips to
Hand-E.
Fig. 1-2: Mounting a finger on a rack.
When ordered as a kit (please refer to the Scope of Delivery section), a fingertip starting kit is included (please refer to the Spare
Parts, Kits and Accessories section). These fingertips should be mounted onto fingertip holders.
Fig. 1-3: Mounting a fingertip on a fingertip holder (example).
Tip
You can customize fingers and fingertips. Mount custom fingers on racks, and fingertips on fingertip holders.
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Robotiq Hand-E Gripper Instruction Manual
1.2. Object picking
The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping. The fingers can pick
hollow parts from the inside by applying pressure with the outer surface of the fingers.
See the figure below for a representation and refer to the Picking Features section for details on avaible position commands for
your gripper.
Fig. 1-4: Hand-E Gripper internal and external gripping.
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10
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